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Synthesis of Distributed Longitudinal Control Protocols for a Platoon of Autonomous Vehicles

Han, Duo and Mo, Yilin and Murray, Richard M. (2015) Synthesis of Distributed Longitudinal Control Protocols for a Platoon of Autonomous Vehicles. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20200204-162407534

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Abstract

We develop a framework for control protocol synthesis for a platoon of autonomous vehicles subject to temporal logic specifications. We describe the desired behavior of the platoon in a set of linear temporal logic formulas, such as collision avoidance, close spacing or comfortability. The problem of decomposing a global specification for the platoon into distributed specification for each pair of adjacent vehicles is hard to solve. We use the invariant specifications to tackle this problem and the decomposition is proved to be scalable.. Based on the specifications in Assumption/Guarantee form, we can construct a two-player game (between the vehicle and its closest leader) locally to automatically synthesize a controller protocol for each vehicle. Simulation example for a distributed vehicles control problem is also shown.


Item Type:Report or Paper (Discussion Paper)
ORCID:
AuthorORCID
Mo, Yilin0000-0001-7937-6737
Murray, Richard M.0000-0002-5785-7481
Record Number:CaltechAUTHORS:20200204-162407534
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200204-162407534
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:101124
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:06 Feb 2020 18:12
Last Modified:06 Feb 2020 18:12

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